How to generate collision free path with PowerPacs?

Yishin

While PowerPacs can easily generate the grinding path, the grinding tool my collide with the ARM at some of the generated points. Please check the attached image as an example.

Is there an option for PowerPacs to generate collision free path?

 

MikeEd

Just limit your joint angles in the MOC file

Yishin

I opened the MOD.CFG file, and got confused by its syntax.
Please point out which document should be referred for limiting joint angles with MOD.CFG file?

SKuhn

Try reorienting about the tool Z to avoid collision between the joints.  The programmed point is not ideal.

DenisFR

Hello,

You can get them in ARM: section

In -name "rob1_5", change -upper_joint_bound or -lower_joint_bound values in radians.

From System parameters Help file:

Topic Motion - Type Arm
Upper Joint Bound
  
Parent Upper Joint Bound belongs to the type Arm, in the topic Motion.
Cfg name upper_joint_bound
Description Upper Joint Bound defines the upper limit of the working area for this joint.
Usage Upper Joint Bound can be used to limit the working area (in radians) of the joint.
 Note
It is not possible to use a value that is larger than the maximal allowed limit for the specific joint. Trying this will cause the system to use the maximal allowed value instead.
Limitations This parameter is valid only for articulated robots. For more information, see How to restrict the work area for articulated robots.
Allowed values A value between -1,256,637 and 1,256,637 radians.